Image processing apparatus, and image processing method

ABSTRACT

The present technology relates to an image processing apparatus and an image processing method that can appropriately set an attention area in an image on which image correction processing is performed. An image processing apparatus according to an aspect of the present technology includes a speed detecting section that detects a moving speed of the mobile body; an attention area setting section that sets an attention area to an image imaged in an advancing direction of the mobile body on the basis of the moving speed detected; and an image correction processing section that performs the predetermined image correction processing on the image on the basis of a pixel value of a pixel belonging to the attention area on the image. The present technology is applicable to, for example, a vehicle-mounted sensor.

TECHNICAL FIELD

The present technology relates to an image processing apparatus and animage processing method, and, more particularly, to an image processingapparatus and an image processing method such that a detection area fordetecting information that becomes a trigger to start predeterminedimage correction processing is changed depending on a speed or the like.

BACKGROUND ART

For example, it is considered in an automobile to realize a followingdriving function that detects other automobile traveling front andfollows, an automatic brake function that detects jumping-out of apedestrian and a front obstacle and releases a shock. In this case, itneeds a camera that images an image for detecting and identifyingsurroundings (mainly forward). Then, in order to detect an object suchas the other automobile and the pedestrian with high accuracy from theimage imaged by the camera, it will be a condition that the image issuitable for detecting the object.

Here, the image suitable for detecting the object means an image imagedwith an appropriate exposure and an image on which appropriate imagecorrection processing is performed. Accordingly, in order to obtain theimage suitable for detecting the object, it needs to control theexposure or the like before imaging or perform the image correctionprocessing after imaging.

In the image correction processing after imaging, it is known that whitebalance processing (hereinafter referred to as WB processing) that canespecially express correctly a color of the object to be imaged isimportant to detect the object.

In a case where the image correction processing such as the WBprocessing is performed on the imaged image, there are a first method ofperforming the image correction processing on the basis of pixel valuesof all pixels of the image and a second method of performing the imagecorrection processing on the basis of a pixel value of a pixel belongingto a predetermined area (hereinafter referred to as attention area) (forexample, see Patent Literature 1).

CITATION LIST Patent Literature

Patent Literature 1: Japanese Patent Application Laid-open No.2014-32540

DISCLOSURE OF INVENTION Technical Problem

In the case of the above-described first method, since the imagecorrection processing is performed also on the basis of the pixel valuesin an area at which the object is not present, a result of the imagecorrection processing may not be appropriate for detecting the object.

In the case of the above-described second method, in order to obtain theresult of the image correction processing suitable for detecting theobject, it becomes important to appropriately set a position of theattention area.

The present technology is made in view of the above-mentionedcircumstances, and it is an object of the present technology toappropriately set the attention area in the image on which the imagecorrection processing is performed.

Solution to Problem

An image processing apparatus according to an aspect of the presenttechnology includes a speed detecting section that detects a movingspeed of the mobile body; an attention area setting section that sets anattention area to an image imaged in an advancing direction of themobile body on the basis of the moving speed detected; and an imagecorrection processing section that performs the predetermined imagecorrection processing on the image on the basis of a pixel value of apixel belonging to the attention area on the image.

An image processing method for an image processing apparatus included ina mobile body according to an aspect of the present technology includesthe steps executed by the image processing apparatus of detecting amoving speed of the mobile body; setting an attention area to an imageimaged in an advancing direction of the mobile body on the basis of themoving speed detected; and performing the predetermined image correctionprocessing on the image on the basis of a pixel value of a pixelbelonging to the attention area on the image.

According to an aspect of the present technology includes, the movingspeed of the mobile body is detected, the attention area is set to theimage imaged in the advancing direction of the mobile body on the basisof the moving speed detected, and the predetermined image correctionprocessing is performed on the image on the basis of the pixel value ofthe pixel belonging to the attention area on the image.

Advantageous Effects of Invention

According to an aspect of the present technology, the attention area canbe set appropriately in the image on which the image correctionprocessing is performed.

According to an aspect of the present technology, the image that canaccurately detect the object.

It should be noted that the effects described here are not necessarilylimitative and may be any of effects described in the presentdisclosure.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram depicting a configuration example of an imageprocessing apparatus to which the present technology is applied.

FIG. 2 is a flowchart explaining an operation of the image processingapparatus of FIG. 1.

FIG. 3 is a diagram depicting a change of an attention areacorresponding to a speed.

FIG. 4 is a block diagram depicting an example of schematicconfiguration of a general purpose computer.

FIG. 5 is a block diagram depicting an example of schematicconfiguration of a vehicle control system.

FIG. 6 is a diagram of assistance in explaining an example ofinstallation positions of an outside-vehicle information detectingsection and an imaging section.

MODE(S) FOR CARRYING OUT THE INVENTION

Hereinafter, modes for carrying out the present technology (hereinafter,referred to as embodiments) will be described with reference to thedrawings.

<Configuration Example of Image Processing Apparatus According to thePresent Technology>

FIG. 1 is a block diagram depicting a configuration example of an imageprocessing apparatus according to the present technology.

The image processing apparatus is included in a vehicle of an automobileand detects an object such as other automobile and a pedestrian that canbe present at surroundings (mainly forward). A detection result of theimage processing apparatus is used by a variety of functions (detailsdescribed later) such as a following driving function and an automaticbrake function in the vehicle including the image processing apparatus.

Note that the vehicle including the image processing apparatus is notlimited to an automobile.

The image processing apparatus includes an imaging section 11, a movingobject detecting section 12, a vanishing point detecting section 13, asensor section 14, an attention area setting section 18, an imagecorrection processing section 19, an imaging control section 20, and avehicle control section 21.

The imaging section 11 at least includes a front camera that can image afront in a usual advancing direction of the vehicle, performs imaging ata predetermined frame rate, and sequentially outputs an imaged image tothe moving object detecting section 12, the vanishing point detectingsection 13, the image correction processing section 19, and the imagingcontrol section 20. Note that the imaging section 11 may include a rearcamera that can image a back in an unusual advancing direction of thevehicle.

The moving object detecting section 12 detects the object actuallymoving in a real space (moving object) by comparing a plurality of wholeimages (all angles of view) at different imaging timings. Specifically,the moving object detecting section 12 does not detect a building thatis relatively moved as seen from the vehicle including the imageprocessing apparatus but is not moved in the real space, and detectsother vehicles and the like traveling similar to the vehicle. The movingobject detecting section 12 notifies the attention area setting section18 of moving object detection information that represents a detectionresult of the moving object.

The vanishing point detecting section 13 detects a vanishing point inthe image by comparing the plurality of whole images (all angles ofview) at different imaging timings serially inputted from the imagingsection 11. Here, the vanishing point refers to a point on whichparallel lines present in the real space (for example, white lines ofword marking, guardrails, or the like) are finally crossed. Thevanishing point detecting section 13 notifies the attention area settingsection 18 of vanishing point information that represents a position ofthe detected vanishing point.

The sensor section 14 includes a driving direction detecting section 15,a speed detecting section 16, and a steering angle detecting section 17.

The driving direction detecting section 15 detects a travel direction(forward or backward) of the vehicle including the image processingapparatus and notifies the attention area setting section 18 of traveldirection information representing the travel direction. The speeddetecting section 16 detects a speed of the vehicle including the imageprocessing apparatus and notifies the attention area setting section 18of speed information representing the speed. The steering angledetecting section 17 detects a steering angle (rotation angle ofsteering handle) of the vehicle including the image processing apparatusand notifies the attention area setting section 18 of steering angleinformation representing the steering angle.

The attention area setting section 18 sets the attention area on thebasis of the moving object detection information, the vanishing pointinformation, the travel direction information, the speed information,and the steering angle information and notifies the image correctionprocessing section 19 and the imaging control section 20 of attentionarea information that represents a position and a size thereof.

Here, the attention area represents a pixel area taking as a standardupon the image correction processing in a case where predetermined imagecorrection processing (for example, WB processing) is performed on theimage imaged by the imaging section 11 in the image correctionprocessing section 19.

The image correction processing section 19 performs the predeterminedimage correction processing on the all angles of view of the imagesequentially inputted from the imaging section 11 on the basis of apixel value of the pixel in the attention area of each image. Examplesof the predetermined image correction processing include the WBprocessing, y correction processing, sharpening processing, noisereduction processing, and the like. Note that the predetermined imagecorrection processing is not limited to the above-described examples.

The image correction processing section 19 supplies the image on whichthe predetermined image correction processing is performed to a controlsection (not shown) at a vehicle side via the vehicle control section21. The image on which the predetermined image correction processing isperformed and that is supplied to the control section at the vehicleside is used to execute a following driving function, an automatic brakefunction, or the like in the vehicle.

The imaging control section 20 performs exposure control of the imagingsection 11 on the basis of the image sequentially inputted from theimaging section 11. At this time, the exposure control may be performedon the basis of the pixel value of the pixel in the attention area ofthe image sequentially inputted from the imaging section 11.

<Operation of Image Processing Apparatus According to Embodiment of thePresent Technology>

FIG. 2 is a flowchart explaining an operation of the image processingapparatus. The operation is repeatedly executed at a predeterminedperiod after the vehicle including the image processing apparatus can betraveled (for example, ignition switch is turned on).

In an initial stage that the operation is started, the attention area isin a position (for example, center of image) and has a size at aninitial setting, or is in a position and has a size in the state thatthe vehicle is not traveled last time (for example, ignition switch isturned off).

In Step S1, the attention area setting section 18 determines whether ornot the vehicle is traveled on the basis of the speed information. In acase where it is determined as traveling, the processing proceeds toStep S2. In Step S2, the attention area setting section 18 determineswhether or not the vehicle goes forward on the basis of the traveldirection information. In a case where it is determined that it goesforward, the processing proceed to Step S3.

In Step S3, the imaging section 11 supplies the image being imaged bythe front camera that images a front of the vehicle as object to beprocessed to a latter stage.

In Step S4, the attention area setting section 18 determines whether ornot the speed of the vehicle is increased as compared to that at thetime of processing in Step S4 at the former time (whether or not anamount of increase in the speed is a predetermined threshold or more),whether or not the speed is decreased (whether or not an amount ofdecrease in the speed is the predetermined threshold or more), orwhether or not the speed is not changed (whether or not an amount ofchange in the speed is less than the predetermined threshold value) onthe basis of the speed information.

In Step S4, in a case where it is determined that the speed isincreased, the processing proceeds to Step S5 by the attention areasetting section 18. In Step S5, the attention area setting section 18temporarily sets to decrease the size of the current attention area.Thereafter, the processing proceeds to Step S8.

In Step S4, in a case where it is determined that the speed isdecreased, the processing proceeds to Step S6 by the attention areasetting section 18. In Step S6 the attention area setting section 18temporarily sets to increase the size of the current attention area.Thereafter, the processing proceeds to Step S8.

In Step S4, in a case where it is determined that the speed is notchanged, the processing proceeds to Step S7 by the attention areasetting section 18. In Step S7, the attention area setting section 18temporarily sets to keep the size of the current attention area.Thereafter, the processing proceeds to Step S8.

In Step S8, the attention area setting section 18 determines whether ornot the vanishing point is moved as compared to that at the time ofprocessing in Step S8 at the former time on the basis of the vanishingpoint information. In a case where it is determined that the vanishingpoint is moved, the processing proceeds to Step S9 by the attention areasetting section 18 and the attention area is caused to be moved so thatthe vanishing point becomes the center. Note that, in Step S8, in a casewhere it is determined that the vanishing point is not moved, Step S9 isskipped.

In Step S10, the attention area setting section 18 determines the statewhether or not the steering handle of the vehicle is turned left, isturned right, or is in the center not turning left and right on thebasis of the steering angle information.

In Step S10, in a case where it is determined that the state is that thesteering handle is turned left, the processing proceeds to Step S11 bythe attention area setting section 18 and the attention area is causedto be moved to a left side depending on the steering angle. Note thatinstead of moving the attention area to the left side, the attentionarea may be extended to the left side. Thereafter, the processingproceeds to Step S13.

In Step S10, in a case where it is determined that the state is that thesteering handle is turned right, the processing proceeds to Step S12 bythe attention area setting section 18 and the attention area is causedto be moved to a right side depending on the steering angle. Note thatinstead of moving the attention area to the right side, the attentionarea may be extended to the right side. Thereafter, the processingproceeds to Step S13.

In Step S10, in a case where it is determined that the state is that thesteering handle is in the center, Steps S11 and S12 are skipped and theprocessing proceeds to Step S13 by the attention area setting section18.

In Step S13, the attention area setting section 18 determines whether ornot the moving object is being detected around the attention area(periphery with predetermined width of attention area) on the basis ofthe moving object detection information. In a case where the movingobject is being detected, the processing proceeds to Step S14 by theattention area setting section 18. The attention area setting section 18determines whether or not the detected moving object approaches theattention area. In a case where it is determined that the detectedmoving object approaches the attention area, the processing proceeds toStep S15 by the attention area setting section 18.

In Step S15, the attention area setting section 18 enlarges theattention area to include the moving object that is present around theattention area and approaches the attention area. Thereafter, theprocessing proceeds to Step S16.

Note that, in Step S13, in a case where it is determined that the movingobject is not detected, or, in Step S14, in a case where the movingobject does not approach the attention area, the processing proceeds toStep S16.

In Step S16, the attention area setting section 18 notifies the imagecorrection processing section 19 and the imaging control section 20 ofthe attention area information that represents the attention area set bythe above-described processing. The image correction processing section19 performs the predetermined image correction processing on the basisof the pixel value of the pixel in the attention area on the imageinputted from the imaging section 11 on the basis of the notifiedattention area information and outputs the resultant image to the latterstage.

Note that, in Step S2, in a case where it is determined that the vehicledoes not go forward (go backward), the processing proceeds to Step S17by the attention area setting section 18.

In Step S17, the imaging section 11 determines whether or not thevehicle includes the rear camera that images a rear of the vehicle. In acase where it is determined that the vehicle includes the rear camera,the processing proceeds to Step S18 and the image imaged by the rearcamera that images the rear of the vehicle is supplied to the latterstage as the object to be processed. Thereafter, the processing proceedsto Step S4 and the above-described processing is executed.

In Step S17, in a case where it is determined that the imaging section11 does not include the rear camera, the processing returns to Step S1and subsequent steps are executed.

In Step S1, in a case where it is determined as not traveling, theprocessing proceeds to Step S19. In Step S19, the attention area settingsection 18 sets the all angles of view of the image to the attentionarea. Thereafter, the processing proceeds to Step S16.

This concludes the description about the operation of the imageprocessing apparatus.

Next, FIG. 3 is a diagram depicting a change of the attention area anddepicts the all angles of view of the image imaged by the imagingsection 11.

As described above, by the image processing apparatus, the size of thecurrent attention area is decreased or increased depending on the speedof the vehicle including the image processing apparatus. Specifically,it assumes that the size of the attention area at the current speed is aframe 31. If the speed is increased, the size of the attention area isdecreased to a frame 32 since it takes a short time to approach thevanishing point. In contrast, if the speed is decreased, the size of theattention area is increased to a frame 33 since it takes a long time toapproach the vanishing point.

In addition, the attention area is moved corresponding to a movingdirection of the vanishing point. Specifically, in a case where atraveling road is curved left or right or is uphill or downhill, theattention area is moved up, down, left, or right.

Furthermore, also in a case where the steering handle of the vehicle isturned left or right, the attention area is moved left or right.

As described above, since the attention area is changed corresponding tothe state of the vehicle and the shape of the road by the imageprocessing apparatus, appropriate image correction processing can beperformed on the basis of the information (pixel value of pixel inattention area) about a place to which the vehicle travels.

For example, in a case where the vehicle travels near a tunnel exit,there will be a significant difference between brightness at a tunnelinner wall for most of the angles of view and brightness at the tunnelexit ahead. By using the image processing apparatus, appropriate imagecorrection processing can be performed on the basis of the informationabout the tunnel exit ahead (outside of tunnel) without being affectedby a color of a sodium lamp or the like in the tunnel.

For example, in a case where the vehicle travels near a tunnel exit,there will be a significant difference between brightness at a tunnelinner wall for most of the angles of view and brightness at the tunnelexit ahead. By using the image processing apparatus, appropriate imagecorrection processing can be performed on the basis of the informationabout the tunnel exit ahead (outside of tunnel) without being affectedby information about the inside of the tunnel. More specifically,appropriate WB processing can be performed on the basis of theinformation about the (outside of tunnel) without being affected by thesodium lamp or the like in the tunnel.

In addition, for example, in a case where a number of taxies, i.e., thevehicles with both sides coated in yellow, travel, inappropriate WBprocessing may be performed by misrecognizing the yellow for most of theangles of view as a light source color if not the attention area is set.However, since the attention area is set by the image processingapparatus, appropriate WB processing can be performed.

Thus, at the latter stage of the image processing apparatus, the objectcan be detected with high accuracy from the image on which the imagecorrection processing is performed and the following driving functionand it becomes possible to appropriately execute the automatic brakefunction, and the like.

<About Functions of Vehicle Capable of Using Image on which ImageCorrection Processing is Performed Outputted from Image ProcessingApparatus>

As being described above, the image on which the image correctionprocessing is performed outputted from the image processing apparatuscan be applied to a variety of functions that can be included in thevehicle.

For example, the image can be applied to a function of automaticallycontrolling a vehicle speed and a distance between vehicles in matchingwith a vehicle traveling forward, a function of automatically steeringin matching with a shape and a state of a road, a function of warning arisk of colliding with other vehicle or the like, a function of warninga deviation from a travel lane, a function of detecting a brake light ofa forward vehicle, a function of recognizing a road sign and controllinga speed, a function of controlling an irradiation range of a high beam,a function of switching a high beam and a low beam, a function ofappropriately combining the above-described functions, or the like.

Incidentally, a series of processing of the above-described imageprocessing apparatus can be executed not only by hardware but also bysoftware. When the series of processing is executed by software, aprogram for the software is installed in a computer. Examples of thecomputer include a computer built in dedicated hardware, a generalpurpose personal computer, for example, capable of executing a varietyof functions by installing a variety of programs, and the like.

FIG. 4 is a block diagram depicting an example of schematicconfiguration of hardware of a computer that executes theabove-described series of processing by a program.

In a computer 200, a CPU (Central Processing Unit) 201, a ROM (Read OnlyMemory) 202, and a RAM (Random Access Memory) 203 are connected eachother via a bus 204.

To the bus 204, an input output interface 205 is further connected. Tothe input output interface 205, an input section 206, an output section207, a storing section 208, a communication section 209, and a drive 210are connected.

The input section 206 includes a keyboard, a mouse, a microphone, andthe like. The output section 207 includes a display, a speaker, and thelike. The storing section 208 includes a hard disk, a non-volatilememory, and the like. The communication section 209 includes a networkinterface, and the like. The drive 210 drives removable media 211 suchas a magnetic disk, an optical disk, a magneto-optical disk, and asemiconductor memory.

In the computer 200 configured as described above, the above-describedseries of processing is performed by loading and executing the programstored in the storing section 208 by the CPU 201 via the input outputinterface 205 and the bus 204.

The program executed by the computer (CPU 201) may be provided byrecording in the removable media 211 as package media or the like, forexample. In addition, the program may be provided via wired or wirelesstransmission media such as a local area network, the Internet, anddigital satellite broadcasting.

In the computer 200, the program can be installed to the storing section208 via the input output interface 205 by placing the removable media211 on the drive 210. Also, the program can be installed to the storingsection 208 by receiving at the communication section 209 via the wiredor wireless transmission media. Otherwise, the program can be installedto the ROM 202 or the storing section 208 in advance.

Note that the program executed by the computer 20 may be a program thatis processed in time-series following the order as described in thepresent specification or a program that is processed at a necessarytiming, e.g., in parallel, upon invoking, or the like.

<Application Example for Mobile Body>

The technology of the present disclosure (the present technology) can beapplied to a variety of products. For example, the technology of thepresent disclosure may be realized as a device included in any type of amobile body such as an automobile, an electric automobile, a hybridelectric automobile, a motorcycle, a bicycle, personal mobility, anairplane, a drone, a ship, a robot, and the like.

FIG. 5 is a block diagram depicting an example of schematicconfiguration of a vehicle control system as an example of a mobile bodycontrol system to which the technology according to an embodiment of thepresent disclosure can be applied.

The vehicle control system 12000 includes a plurality of electroniccontrol units connected to each other via a communication network 12001.In the example depicted in FIG. 5, the vehicle control system 12000includes a driving system control unit 12010, a body system control unit12020, an outside-vehicle information detecting unit 12030, anin-vehicle information detecting unit 12040, and an integrated controlunit 12050. In addition, a microcomputer 12051, a sound/image outputsection 12052, and a vehicle-mounted network interface (I/F) 12053 areillustrated as a functional configuration of the integrated control unit12050.

The driving system control unit 12010 controls the operation of devicesrelated to the driving system of the vehicle in accordance with variouskinds of programs. For example, the driving system control unit 12010functions as a control device for a driving force generating device forgenerating the driving force of the vehicle, such as an internalcombustion engine, a driving motor, or the like, a driving forcetransmitting mechanism for transmitting the driving force to wheels, asteering mechanism for adjusting the steering angle of the vehicle, abraking device for generating the braking force of the vehicle, and thelike.

The body system control unit 12020 controls the operation of variouskinds of devices provided to a vehicle body in accordance with variouskinds of programs. For example, the body system control unit 12020functions as a control device for a keyless entry system, a smart keysystem, a power window device, or various kinds of lamps such as aheadlamp, a backup lamp, a brake lamp, a turn signal, a fog lamp, or thelike. In this case, radio waves transmitted from a mobile device as analternative to a key or signals of various kinds of switches can beinput to the body system control unit 12020. The body system controlunit 12020 receives these input radio waves or signals, and controls adoor lock device, the power window device, the lamps, or the like of thevehicle.

The outside-vehicle information detecting unit 12030 detects informationabout the outside of the vehicle including the vehicle control system12000. For example, the outside-vehicle information detecting unit 12030is connected with an imaging section 12031. The outside-vehicleinformation detecting unit 12030 makes the imaging section 12031 imagean image of the outside of the vehicle, and receives the imaged image.On the basis of the received image, the outside-vehicle informationdetecting unit 12030 may perform processing of detecting an object suchas a human, a vehicle, an obstacle, a sign, a character on a roadsurface, or the like, or processing of detecting a distance thereto.

The imaging section 12031 is an optical sensor that receives light, andwhich outputs an electric signal corresponding to a received lightamount of the light. The imaging section 12031 can output the electricsignal as an image, or can output the electric signal as informationabout a measured distance. In addition, the light received by theimaging section 12031 may be visible light, or may be invisible lightsuch as infrared rays or the like.

The in-vehicle information detecting unit 12040 detects informationabout the inside of the vehicle. The in-vehicle information detectingunit 12040 is, for example, connected with a driver state detectingsection 12041 that detects the state of a driver. The driver statedetecting section 12041, for example, includes a camera that images thedriver. On the basis of detection information input from the driverstate detecting section 12041, the in-vehicle information detecting unit12040 may calculate a degree of fatigue of the driver or a degree ofconcentration of the driver, or may determine whether the driver isdozing.

The microcomputer 12051 can calculate a control target value for thedriving force generating device, the steering mechanism, or the brakingdevice on the basis of the information about the inside or outside ofthe vehicle which information is obtained by the outside-vehicleinformation detecting unit 12030 or the in-vehicle information detectingunit 12040, and output a control command to the driving system controlunit 12010. For example, the microcomputer 12051 can perform cooperativecontrol intended to implement functions of an advanced driver assistancesystem (ADAS) which functions include collision avoidance or shockmitigation for the vehicle, following driving based on a followingdistance, vehicle speed maintaining driving, a warning of collision ofthe vehicle, a warning of deviation of the vehicle from a lane, or thelike.

In addition, the microcomputer 12051 can perform cooperative controlintended for automatic driving, which makes the vehicle to travelautonomously without depending on the operation of the driver, or thelike, by controlling the driving force generating device, the steeringmechanism, the braking device, or the like on the basis of theinformation about the outside or inside of the vehicle which informationis obtained by the outside-vehicle information detecting unit 12030 orthe in-vehicle information detecting unit 12040.

In addition, the microcomputer 12051 can output a control command to thebody system control unit 12020 on the basis of the information about theoutside of the vehicle which information is obtained by theoutside-vehicle information detecting unit 12030. For example, themicrocomputer 12051 can perform cooperative control intended to preventa glare by controlling the headlamp so as to change from a high beam toa low beam, for example, in accordance with the position of a precedingvehicle or an oncoming vehicle detected by the outside-vehicleinformation detecting unit 12030.

The sound/image output section 12052 transmits an output signal of atleast one of a sound and an image to an output device capable ofvisually or auditorily notifying information to an occupant of thevehicle or the outside of the vehicle. In the example of FIG. 5, anaudio speaker 12061, a display section 12062, and an instrument panel12063 are illustrated as the output device. The display section 12062may, for example, include at least one of an on-board display and ahead-up display.

FIG. 6 is a diagram depicting an example of the installation position ofthe imaging section 12031.

In FIG. 6, the imaging section 12031 includes imaging sections 12101,12102, 12103, 12104, and 12105.

The imaging sections 12101, 12102, 12103, 12104, and 12105 are, forexample, disposed at positions on a front nose, sideview mirrors, a rearbumper, and a back door of the vehicle 12100 as well as a position on anupper portion of a windshield within the interior of the vehicle. Theimaging section 12101 provided to the front nose and the imaging section12105 provided to the upper portion of the windshield within theinterior of the vehicle obtain mainly an image of the front of thevehicle 12100. The imaging sections 12102 and 12103 provided to thesideview mirrors obtain mainly an image of the sides of the vehicle12100. The imaging section 12104 provided to the rear bumper or the backdoor obtains mainly an image of the rear of the vehicle 12100. Theimaging section 12105 provided to the upper portion of the windshieldwithin the interior of the vehicle is used mainly to detect a precedingvehicle, a pedestrian, an obstacle, a signal, a traffic sign, a lane, orthe like.

Incidentally, FIG. 6 depicts an example of photographing ranges of theimaging sections 12101 to 12104. An imaging range 12111 represents theimaging range of the imaging section 12101 provided to the front nose.Imaging ranges 12112 and 12113 respectively represent the imaging rangesof the imaging sections 12102 and 12103 provided to the sideviewmirrors. An imaging range 12114 represents the imaging range of theimaging section 12104 provided to the rear bumper or the back door. Abird's-eye image of the vehicle 12100 as viewed from above is obtainedby superimposing image data imaged by the imaging sections 12101 to12104, for example.

At least one of the imaging sections 12101 to 12104 may have a functionof obtaining distance information. For example, at least one of theimaging sections 12101 to 12104 may be a stereo camera constituted of aplurality of imaging elements, or may be an imaging element havingpixels for phase difference detection.

For example, the microcomputer 12051 can determine a distance to eachthree-dimensional object within the imaging ranges 12111 to 12114 and atemporal change in the distance (relative speed with respect to thevehicle 12100) on the basis of the distance information obtained fromthe imaging sections 12101 to 12104, and thereby extract, as a precedingvehicle, a nearest three-dimensional object in particular that ispresent on a traveling path of the vehicle 12100 and which travels insubstantially the same direction as the vehicle 12100 at a predeterminedspeed (for example, equal to or more than 0 km/hour). Further, themicrocomputer 12051 can set a following distance to be maintained infront of a preceding vehicle in advance, and perform automatic brakecontrol (including following stop control), automatic accelerationcontrol (including following start control), or the like. It is thuspossible to perform cooperative control intended for automatic drivingthat makes the vehicle travel autonomously without depending on theoperation of the driver or the like.

For example, the microcomputer 12051 can classify three-dimensionalobject data on three-dimensional objects into three-dimensional objectdata of a two-wheeled vehicle, a standard-sized vehicle, a large-sizedvehicle, a pedestrian, a utility pole, and other three-dimensionalobjects on the basis of the distance information obtained from theimaging sections 12101 to 12104, extract the classifiedthree-dimensional object data, and use the extracted three-dimensionalobject data for automatic avoidance of an obstacle. For example, themicrocomputer 12051 identifies obstacles around the vehicle 12100 asobstacles that the driver of the vehicle 12100 can recognize visuallyand obstacles that are difficult for the driver of the vehicle 12100 torecognize visually. Then, the microcomputer 12051 determines a collisionrisk indicating a risk of collision with each obstacle. In a situationin which the collision risk is equal to or higher than a set value andthere is thus a possibility of collision, the microcomputer 12051outputs a warning to the driver via the audio speaker 12061 or thedisplay section 12062, and performs forced deceleration or avoidancesteering via the driving system control unit 12010. The microcomputer12051 can thereby assist in driving to avoid collision.

At least one of the imaging sections 12101 to 12104 may be an infraredcamera that detects infrared rays. The microcomputer 12051 can, forexample, recognize a pedestrian by determining whether or not there is apedestrian in imaged images of the imaging sections 12101 to 12104. Suchrecognition of a pedestrian is, for example, performed by a procedure ofextracting characteristic points in the imaged images of the imagingsections 12101 to 12104 as infrared cameras and a procedure ofdetermining whether or not it is the pedestrian by performing patternmatching processing on a series of characteristic points representingthe contour of the object. When the microcomputer 12051 determines thatthere is a pedestrian in the imaged images of the imaging sections 12101to 12104, and thus recognizes the pedestrian, the sound/image outputsection 12052 controls the display section 12062 so that a squarecontour line for emphasis is displayed so as to be superimposed on therecognized pedestrian. The sound/image output section 12052 may alsocontrol the display section 12062 so that an icon or the likerepresenting the pedestrian is displayed at a desired position.

As above, an example of the vehicle control system to which thetechnology of the present disclosure can be applied has been described.The technology of the present disclosure can be applied to theoutside-vehicle information detecting unit 12030 among theconfigurations as described above.

Note that the embodiments of the present technology are not limited tothe above-described embodiments. Various modifications and alterationsof the present technology may be available without departing from thespirit and scope of the present disclosure.

Note that the present technology may also have the following structures.

(1)

An image processing apparatus included in a mobile body, including:

a speed detecting section that detects a moving speed of the mobilebody;

an attention area setting section that sets an attention area to animage imaged in an advancing direction of the mobile body on the basisof the moving speed detected; and

an image correction processing section that performs the predeterminedimage correction processing on the image on the basis of a pixel valueof a pixel belonging to the attention area on the image.

(2)

The image processing apparatus according to (1), in which

the attention area setting section sets a size of the attention area onthe basis of the moving speed detected.

(3)

The image processing apparatus according to (1) or (2), furtherincluding:

a vanishing point detecting section that detects a vanishing point ofthe image imaged in the advancing direction of the mobile body, in which

the attention area setting section sets a position of the attention areaon the basis of the vanishing point detected.

(4)

The image processing apparatus according to (3), in which

the attention area setting section makes the position of the attentionarea move corresponding to a moving direction of the vanishing pointdetected.

(5)

The image processing apparatus according to any of (1) to (4), furtherincluding:

a steering angle detecting section that detects a steering angle of themobile body, in which

the attention area setting section makes the position of the attentionarea move on the basis of the steering angle detected.

(6)

The image processing apparatus according to any of (1) to (4), furtherincluding:

a steering angle detecting section that detects a steering angle of themobile body, in which

the attention area setting section enlarges the attention area in adirection corresponding to the steering angle detected.

(7)

The image processing apparatus according to any of (1) to (6), furtherincluding:

a moving object detecting section that detects a moving object from theimage imaged in the advancing direction of the mobile body, in which

the attention area setting section enlarges the attention area on thebasis of a detection result of the moving object.

(8)

The image processing apparatus according to any of (1) to (7), in which

the image correction processing section performs the predetermined imagecorrection processing on all angles of view of the image imaged in theadvancing direction of the mobile body on the basis of a pixel value ofa pixel belonging to the attention area on the image.

(9)

The image processing apparatus according to any of (1) to (8), in which

the image correction processing section performs white balanceprocessing as the predetermined image correction processing on allangles of view of the image imaged in the advancing direction of themobile body on the basis of a pixel value of a pixel belonging to theattention area on the image.

(10)

The image processing apparatus according to any of (1) to (9), furtherincluding:

an imaging section that images and generates the image in the advancingdirection of the mobile body.

(11) The image processing apparatus according to (10), furtherincluding:

an imaging control section that controls exposure of the imaging sectionon the basis of a pixel value of a pixel belonging to the attention areaon the image.

(12) The image processing apparatus according to (10) or (11), in which

the imaging section includes a front camera that images a front of themobile body and a rear camera that images a rear of the mobile body.

(13) An image processing method for an image processing apparatusincluded in a mobile body, including the steps executed by the imageprocessing apparatus of:

detecting a moving speed of the mobile body;

setting an attention area to an image imaged in an advancing directionof the mobile body on the basis of the moving speed detected; and

performing the predetermined image correction processing on the image onthe basis of a pixel value of a pixel belonging to the attention area onthe image.

REFERENCE SIGNS LIST

-   11 imaging section-   12 moving object detecting section-   13 vanishing point detecting section-   14 sensor section-   15 driving direction detecting section-   16 speed detecting section-   17 steering angle detecting section-   18 attention area setting section-   19 image correction processing section-   20 imaging control section-   21 vehicle control section

The invention claimed is:
 1. An image processing apparatus in a mobilebody, the image processing apparatus comprising: an imaging sectionconfigured to capture an image in an advancing direction of the mobilebody; a speed detecting section configured to detect a moving speed ofthe mobile body; a vanishing point detecting section configured todetect a vanishing point in the captured image; an attention areasetting section configured to: set an attention area in the capturedimage based on the detected moving speed; and set a position of theattention area in the captured image based on the detected vanishingpoint; and an image correction processing section configured to executean image correction processing operation on the captured image based ona pixel value of a pixel corresponding to the attention area in thecaptured image.
 2. The image processing apparatus according to claim 1,wherein the attention area setting section is further configured to seta size of the attention area based on the detected moving speed.
 3. Theimage processing apparatus according to claim 1, wherein the attentionarea setting section is further configured to move the position of theattention area in a direction corresponding to a moving direction of thedetected vanishing point.
 4. The image processing apparatus according toclaim 2, further comprising: a steering angle detecting sectionconfigured to detect a steering angle of the mobile body, wherein theattention area setting section is further configured to move theposition of the attention area based on the detected steering angle. 5.The image processing apparatus according to claim 2, further comprising:a steering angle detecting section configured to detect a steering angleof the mobile body, wherein the attention area setting section isfurther configured to enlarge the attention area in a directioncorresponding to the detected steering angle.
 6. The image processingapparatus according to claim 2, further comprising: a moving objectdetecting section configured to detect a moving object from the capturedimage, wherein the attention area setting section is further configuredto enlarge the attention area based on the detected moving object. 7.The image processing apparatus according to claim 2, wherein the imagecorrection processing section is further configured to execute the imagecorrection processing operation on all angles of view of the capturedimage based on the pixel value of the pixel corresponding to theattention area in the captured image.
 8. The image processing apparatusaccording to claim 2, wherein the image correction processing section isfurther configured to execute a white balance processing operation asthe image correction processing operation on all angles of view of thecaptured image based on the pixel value of the pixel corresponding tothe attention area in the captured image.
 9. The image processingapparatus according to claim 1, further comprising: an imaging controlsection configured to control an exposure of the imaging section basedon the pixel value of the pixel corresponding to the attention area inthe captured image.
 10. The image processing apparatus according toclaim 1, wherein the imaging section includes: a front camera configuredto capture a front of the mobile body; and a rear camera configured tocapture a rear of the mobile body.
 11. An image processing method,comprising: in an image processing apparatus in a mobile body: capturingan image in an advancing direction of the mobile body; detecting amoving speed of the mobile body; detecting a vanishing point in thecaptured image; setting an attention area in the captured image based onthe detected moving speed; setting a position of the attention area inthe captured image based on the detected vanishing point; and executingan image correction processing operation on the captured image based ona pixel value of a pixel corresponding to the attention area in thecaptured image.